수중 음향 신호를 이용한 수중 3차원 위치 추정 기술 개발에 대한 기초 연구

Abstract

This paper presents development of underwater positioning system using underwater acoustic signal. The positioning system is developed based on conventional underwater acoustic modem. Additional hydrophones are installed to the conventional acoustic modem so that three dimensional underwater positioning is available. A communication transducer is used for acquisition of range information as well as underwater communication. The additional 4 hydrophones are used to estimate three dimensional angular information, which are azimuth and elevation. The performance of the developed system is verified by experiments in inland water environment using an unmanned surface vehicle.